SICK EFI Technical Information Download

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Technical information

Chapter

EFI

8012622/Z098/2016-11-07

Subject to change without notice

Technical realization

Description of bit 0 to 7 of byte 3

Byte 3

3.0

3.1

3.2

3.3

3.4

3.5

3.6

3.7

General

Specific
device data

C4000 receiver

ADO

10)

CoState
Bypass State

Not used

Virtual
photoelectric
switch 2

Virtual
photoelectric
switch 1

M4000 receiver

ADO

10)

Not used

Muting State Muting Lamp

status

Delivery
Status Flag

PU Data
Valid Flag

Mode Switch
state on PU

Select Switch
state on PU

S3000 in
compatibility
mode

11)

Not used

Switch off
1. monitoring
area

Status
Warning
Field
1. monitoring
area

Switch off
2. monitoring
area

Status
Warning Field
2. monitoring
area

S3000

Speed Bit 8

Speed Bit 9

Speed Bit 10 Speed Bit 11 Protective

Field 1/
Protective
Field 1/
Protective
Field 1

12)

Warning
Field 1/
Protective
Field 2/
Warning
Field 1

12)

Sim.
Protective
Field 1/Sim.
Protective
Field 1/–

12)

Warning
Field 2/Sim.
Protective
Field 2/
Warning
Field 2

12)

S300 Anti
Collision

Speed Bit 8

Speed Bit 9

Speed Bit 10 Speed Bit 11 Protective

Field 1/
Protective
Field 1

13)

Collision
Protection
Field 1 /
Collision
Protection
Field

13)

Sim.
Protective
Field 1/–

13)

Sim. Collision
Protection
Field 1/
Collision
protection
field 2

13)

S300 in
compatibility
mode

11)

Not used

Switch off
1. monitoring
area

Status
Warning
Field
1. monitoring
area

Not used

S300

Speed Bit 8

Speed Bit 9

Speed Bit 10 Speed Bit 11 Protective

Field 1

Warning
Field 1

Not used

Warning
Field 2

S300 Mini

Not used

Protective
Field 1

Warning
Field 1

Not used

Warning
Field 2

UE402

Lock-out Info Lock-out Info Lock-out Info Lock-out Info Input Pin B1 Input Pin B2 Input Pin B3 Input Pin B4

UE403

Not used

C1/CBS/OVR
Switch Input
(UI1)

UE4740

Byte 3, Bit 0

Byte 3, Bit 1

Byte 3, Bit 2 Byte 3, Bit 3 Byte 3, Bit 4 Byte 3, Bit 5

Byte 3, Bit 6 Byte 3, Bit 7

Flexi Soft

Byte 3, Bit 0

Byte 3, Bit 1

Byte 3, Bit 2 Byte 3, Bit 3 Byte 3, Bit 4 Byte 3, Bit 5

Byte 3, Bit 6 Byte 3, Bit 7

Tab. 10: Byte 3 of the EFI communication

10)

ADO can be used for non-safety-related evaluations, e.g. weak signal output.

11)

For information on the compatibility mode see the operating instructions for the devices.

12)

Dual (1 protective field, 1 warning field)/Dual protective fields (2 protective fields)/Triple (1 protective field,

2 warning fields).

13)

Dual collision protection (1 protective field, 1 collision protection field)/Triple collision protection (1 protective

field, 2 collision protection fields)

Summary of Contents for EFI

Page 1: ...T E C H N I C A L I N F O R M A T I O N EFI Enhanced Function Interface Safe SICK device communication en ...

Page 2: ...s protected by the law of copyright whereby all rights established therein remain with the company SICK AG Reproduction of this document or parts of this document is only permissible within the limits of the legal determination of Copyright Law Alteration or abridgement of the document is not permitted without the explicit written approval of the company SICK AG ...

Page 3: ...and bits of the EFI communication 19 4 3 1 Bytes of the EFI communication 19 4 4 Status information and control options for the EFI devices 26 4 4 1 C4000 safety light curtain 26 4 4 2 M4000 multiple light beam safety device 28 4 4 3 S3000 safety laser scanner 29 4 4 4 S300 safety laser scanner 32 4 4 5 S300 Mini safety laser scanner 34 4 4 6 Flexi Soft FX3 CPU1 CPU2 CPU3 safety controller 36 4 4 ...

Page 4: ...00 S300 Mini S3000 safety laser scanners 48 5 1 3 M4000 with UE403 switching amplifier 48 5 1 4 Safety controller with one ESPE 49 5 1 5 EFI gateway with ESPE s connected 49 5 2 Device groups with two EFI strings 50 5 2 1 Safety controller with two ESPE 50 5 2 2 EFI gateway with safety controller and ESPE connected 51 5 2 3 EFI gateway with two safety controllers with ESPE connected 52 6 Technical...

Page 5: ...protective equipment e g C4000 S300 Fail safe Programmable logic controller Output signal switching device signal output that drives the safety circuit 1 3 Symbols used Refer to notes for special features of the device Instructions for taking action are shown by an arrow Read carefully and follow the instructions for action WARNING Warning A warning indicates an actual or potential risk or health ...

Page 6: ...e devices This technical information does not replace the operating instructions for the ESPE safety controllers or the EFI gateway described in the following These operating instructions are to be made available to the operator of the system machine or vehicle on which an ESPE a safety controller or an EFI gateway is used The operator is to be instructed in the use of the device by qualified safe...

Page 7: ...ty laser scanner operating mode switching on the C4000 or sampling status signals e g for a contaminated front screen Status and control information is exchanged between devices via EFI The applications can be integrated into higher level bus systems using EFI gateways In addition the concurrent configuration of the devices in a project is possible You will find the advantages of EFI in SICK safet...

Page 8: ...values 4 from the host 1 over the EFI interface 3 It monitors the areas for the second direction of travel as a function of the velocity As soon as there is an object in the protective field it switches the OSSDs on the host via the EFI interface to the OFF state 5 1 3 2 4 5 Advantages less configuration effort central interface for the configuration of the system concurrent monitoring case switch...

Page 9: ...nnected together using EFI The OSSDs on the C4000 Host are integrated into the machine controller 4 If the protective field of the C4000 Guest is interrupted by standing behind or by an attempt at crawling beneath reaching under the OSSDs on the C4000 Host are switched via EFI 3 to the OFF state 1 3 2 4 Advantages Up to three safety light curtains can be connected to each other No additional exter...

Page 10: ...the M4000 multiple light beam safety devices can be expanded Example Muting with M4000 and UE403 Two pairs of inductive muting sensors 1 connected to the UE403 detect the transport platform The UE403 switching amplifier 2 transmits signals via EFI 3 to the M4000 multiple light beam safety device 4 and controls the muting function 1 3 4 2 Advantages less wiring due to local connection of all signal...

Page 11: ... safety application via EFI 1 2 3 One S3000 simultaneously monitors two protective fields 1 and 2 Via EFI it signals the states of the protective fields to the Flexi Soft safety controller 3 The safety controller has two OSSDs for separate safe shut down The related industrial robot is shut down by an object in one of the protective fields The second station continues to operate Advantages all saf...

Page 12: ...ing ESPE with the aid of the EFI gateway it is possible to bidirectionally transmit configuration status and diagnostics functions from the ESPE to the bus system PROFINET IO PROFIsafe Using the EFI gateway one or more ESPE or even entire applications realized with safety controllers can be integrated into for example an F PLC Fig 9 Integration of two S300 in host guest operation into a bus system...

Page 13: ...cal realization EFI is a linear bus system Up to four devices can be connected to this bus system The actual number of devices depends on the related application or product family Twisted pair cable with a characteristic impedance of 108 132 Ω is used as the bus medium see also chapter 6 Technical specifications on page 54 Fig 10 Safety controller with ESPE connected via two EFI strings ...

Page 14: ... safety controllers receive via these addresses status information on the electrosensitive protective devices C4000 S3000 etc or they control functions on the ESPE via these addresses muting operating mode switching etc If an EFI system is connected via an EFI gateway to a PROFINET IO these data can be forwarded to an F PLC or control tasks performed by the F PLC In the example the F PLC can write...

Page 15: ...e memory in the C4000 The device can no longer be used as a standalone device or in a different system position Reset the system position saved in the C4000 using the CDS configuration software or using the Host Guest Plug available as an accessory In an EFI system with two safety laser scanners set the address of one of the scanners to guest The procedure for addressing is described in the relate...

Page 16: ... status information received Device addresses from which items of status information are received M4000 receiver 1 1 11 12 13 or 14 C4000 receiver Host 1 3 2 3 and 14 C4000 receiver Guest 1 2 C4000 receiver Guest 2 3 S3000 Host 7 1 8 13 or 14 S3000 Guest 8 1 7 13 or 14 S300 Host 7 1 8 13 or 14 S300 Guest 8 1 7 13 or 14 S300 Mini Host 7 1 13 or 14 S300 Mini Guest 8 1 7 13 or 14 UE402 14 1 1 UE403 1...

Page 17: ...uest C4000 Guest C4000 Advanced C4000 Standard C4000 Guest C4000 Strd Adv C4000 Advanced C4000 Standard C4000 Advanced C4000 Standard C4000 Advanced C4000 Standard C4000 Entry Exit C4000 Palletizer C4000 Palletizer II C4000 Fusion C4000 Guest C4000 Standard Advanced C4000 Standard Advanced C4000 Standard Advanced C4000 Entry Exit C4000 Palletizer Firm ware V3 31 V3 31 V3 31 V3 31 V3 31 V3 31 V5 05...

Page 18: ...fety device M4000 receiver M4000 sender UE403 M4000 Advanced M4000 Advanced Curtain M4000 Advanced A P M4000 Area M4000 Advanced M4000 Advanced Curtain M4000 Advanced A P M4000 Area M4000 Advanced Curtain M4000 Advanced M4000 Area Firm ware V1 50 V1 50 Firm ware V1 10 V1 10 V1 10 Flexi Soft V1 11 V1 00 UE4740 V1 12 V1 11 UE402 UE403 V1 51 Legend Possible Not possible Tab 4 Firmware compatibility M...

Page 19: ...ity mode S300 Mini Remote S300 S3000 Coldstore S3000 Anti Collision S3000 Host S3000 Anti Collision S3000 S3000 Coldstore S300 S3000 or S300 S300 Mini Remote S3000 Expert S3000 S300 Flexi Soft V1 00 V1 11 UE4740 V1 11 V1 11 UE402 UE403 Legend Possible Not possible Compatibility with the S3000 is provided if the sensor head as well as the I O module have a serial number of 1221XXX or later 4 3 Desc...

Page 20: ...Dynamic Counter OSSD Speed Valid Not used Weak pollution warning Reset button pressed S300 in compatibility mode 4 Dynamic Counter Dynamic Counter Dynamic Counter OSSD S300_1 OSSD S300_2 Status Warning Field 1 Weak pollution warning Reset button pressed S300 Dynamic Counter Dynamic Counter Dynamic Counter OSSD Speed Valid Status Warning Field Weak pollution warning Reset button pressed S300 Mini D...

Page 21: ...nput Pin A1 Input Pin A2 Input Pin B1 Input Pin B2 S300 in compatibility mode 7 Reset Required Reset Lamp I O error Diagnostic classification Diagnostic classification Input Pin A1 Input Pin A2 Input Pin B1 Input Pin B2 S300 Reset Required Reset Lamp I O error Diagnostic classification Diagnostic classification Input Pin A1 Input Pin C1 8 Input Pin A2 Input Pin C2 8 Input Pin B1 Input Pin B2 S300 ...

Page 22: ... Bit 4 Speed Bit 5 Speed Bit 6 Speed Bit 7 S3000 Anti Collision Input Pin C1 Speed Bit 0 9 Input Pin C2 Speed Bit 1 9 Input Pin D1 Speed Bit 2 9 Input Pin D2 Speed Bit 3 9 Speed Bit 4 Speed Bit 5 Speed Bit 6 Speed Bit 7 S300 in compatibility mode 7 Input Pin C1 Input Pin C2 Not used Not used Not used Not used Not used Not used S300 Input Pin C1 Speed Bit 0 9 Input Pin C2 Speed Bit 1 9 Speed Bit 2 ...

Page 23: ...it 11 Protective Field 1 Protective Field 1 13 Collision Protection Field 1 Collision Protection Field 13 Sim Protective Field 1 13 Sim Collision Protection Field 1 Collision protection field 2 13 S300 in compatibility mode 11 Not used Not used Not used Not used Switch off 1 monitoring area Status Warning Field 1 monitoring area Not used Not used S300 Speed Bit 8 Speed Bit 9 Speed Bit 10 Speed Bit...

Page 24: ... Low Byte CRC Low Byte CRC Low Byte CRC Low Byte CRC Low Byte CRC Low Byte CRC Low Byte CRC Low Byte S300 in compatibility mode 15 CRC Low Byte CRC Low Byte CRC Low Byte CRC Low Byte CRC Low Byte CRC Low Byte CRC Low Byte CRC Low Byte S300 CRC Low Byte CRC Low Byte CRC Low Byte CRC Low Byte CRC Low Byte CRC Low Byte CRC Low Byte CRC Low Byte S300 Mini CRC Low Byte CRC Low Byte CRC Low Byte CRC Low...

Page 25: ... Byte CRC Low Byte CRC Low Byte CRC Low Byte CRC Low Byte CRC Low Byte CRC Low Byte CRC Low Byte S300 in compatibility mode 17 CRC High Byte CRC High Byte CRC High Byte CRC High Byte CRC High Byte CRC High Byte CRC High Byte CRC High Byte S300 CRC Low Byte CRC Low Byte CRC Low Byte CRC Low Byte CRC Low Byte CRC Low Byte CRC Low Byte CRC Low Byte S300 Mini CRC Low Byte CRC Low Byte CRC Low Byte CRC...

Page 26: ... front screen Reset button pressed Res Pressed Logical 1 if the reset button is pressed Reset required Res Req Logical 1 if reset required Status of the emergency stop EStop Active Logical 1 if the button connected to the emergency stop input on the C4000 has been pressed Teach in active Teach Active Logical 1 if a teach in key operated switch connected to the C4000 has been operated Status applic...

Page 27: ...elect a different operating mode Operating mode 4 In A4 Logical 1 switches to operating mode 4 of the C4000 Logical 0 makes it possible to select a different operating mode Operating mode 5 In A5 Logical 1 switches to operating mode 5 of the C4000 Logical 0 makes it possible to select a different operating mode Operating mode 6 In A6 Logical 1 switches to operating mode 6 of the C4000 Logical 0 ma...

Page 28: ... muting is inactive Additional signal C1 or Belt stop In BS C1 Logical 1 if a function is activated on the M4000 Control feature Meaning effect Reset override In RES OVR Logical 1 stimulates the function configured in the M4000 Status muting lamp override lamp Logical 1 stimulates an error message for the external muting lamp Muting Sensor A1 In A1 Logical 1 stimulates muting sensor A1 for M4000 M...

Page 29: ...1 if the connection of control input A1 is HIGH21 Note The control inputs on the S3000 are used to switch the monitoring cases on the S3000 Control input A2 In A2 Logical 1 if the connection of control input A2 is HIGH 21 Control input B1 In B1 Logical 1 if the connection of control input B1 is HIGH 21 Control input B2 In B2 Logical 1 if the connection of control input B2 is HIGH 21 Control input ...

Page 30: ...llision protection mode Logical 1 if the simultaneously monitored protective field is unoccupied In triple collision protection mode No function Simultaneous warning field unoccupied Sim WF or simultaneous protective field 2 unoccupied Sim PF2 or allocated warning field 2 unoccupied WF2 In dual field mode Logical 1 if the simultaneously monitored warning field is unoccupied In dual protective fiel...

Page 31: ...ormation D1 In D1 Logical 1 stimulates control input D1 of the S3000 Static input information D2 In D2 Logical 1 stimulates control input D2 of the S3000 Static input information E1 In E1 23 Logical 1 stimulates control input E1 of the S3000 Static input information E2 In E2 23 Logical 1 stimulates control input E2 of the S3000 Stand by 23 Logical 1 stimulates operational status Stand by individua...

Page 32: ...t A1 is HIGH Note The control inputs on the S300 are used to switch the monitoring cases on the S300 Control input A2 In A2 Logical 1 if the connection of control input A2 is HIGH Control input B1 In B1 Logical 1 if the connection of control input B1 is HIGH Control input B2 In B2 Logical 1 if the connection of control input B2 is HIGH Control input C1 In C1 Logical 1 if the connection of control ...

Page 33: ...tion D1 In D1 25 Logical 1 stimulates control input D1 of the S300 Static input information D2 In D2 25 Logical 1 stimulates control input D2 of the S300 Static input information E1 In E1 25 Logical 1 stimulates control input E1 of the S300 Static input information E2 In E2 25 Lo gical 1 stimulates control input E2 of the S300 Stand by 25 Logical 1 stimulates operational status Stand by individual...

Page 34: ...al 0 if one of the warning fields of the S300 Mini is infringed Protective field PF Logical 1 if the protective field is unoccupied Warning field 1 WF1 Logical 1 if the active allocated warning field is unoccupied Warning field 2 WF2 Logical 1 if the active allocated warning field is unoccupied Contamination Weak Logical 1 if the optics cover is contaminated I O error I O Error Logical 0 if there ...

Page 35: ...ol input C2 of the S300 Mini Static input information D1 In D1 Logical 1 stimulates control input D1 of the S300 Mini Static input information D2 In D2 Logical 1 stimulates control input D2 of the S300 Mini Static input information E1 In E1 Logical 1 stimulates control input E1 of the S300 Mini Static input information E2 In E2 Logical 1 stimulates control input E2 of the S300 Mini Stand by Logica...

Page 36: ...us information is not programmed it is only allowed to send signals without pre processing to the EFI users All except Byte 1 Bit 1 Freely programmable signals correspond to the requirements for the EFI devices connected Control feature Meaning effect I O error Byte 1 Bit 1 Logical 0 if there is no error on a connected device Logical 1 if there is an error on a connected device Note Indicates that...

Page 37: ...valid and represent substitute values This situation occurs for example on EFI gateways if the controlling F PLC is not yet operating All except Byte 1 Bit 1 Freely programmable signals correspond to the requirements for the EFI devices connected Control feature Meaning effect I O error Byte 1 Bit 1 Logical 0 if there is no error on a connected device Logical 1 if there is an error on a connected ...

Page 38: ...ication examples 4 5 1 EFI gateway with M4000 multiple light beam safety device The F PLC can access the M4000 via the routing in the EFI gateway In this way it can send muting signals to the M4000 and receive output information e g from M4000 OSSDs Used addresses via EFI 14 for the EFI gateway 1 for the M4000 Fig 13 Example data exchange between an F PLC and an M4000 via an EFI gateway ...

Page 39: ... be re configured to 13 before commissioning it with other devices so that the exchange of data does not collide with the UE403 The address 13 is valid for both EFI strings For this reason it is possible to connect to the second EFI string either an identical UE403 M4000 system or a product that can receive the address data from address 13 From firmware 1 50 this restriction no longer applies as t...

Page 40: ...urpose are routed to the S3000 via the EFI gateway address 14 The status information from the S3000 is received by the EFI gateway addresses 7 and 8 and routed to the F PLC 4 5 4 EFI gateways with S3000 or S300 host guest systems with local inputs Only the status information from the S3000 or S300 safety laser scanners is received by the EFI gateway addresses 7 and 8 and routed to the F PLC The pr...

Page 41: ...safety laser scanners The protective field switching is performed via the F PLC The control input signals used for this purpose are routed to the two S300 over two separate EFI strings via the EFI gateway each address 14 The status information from the S300 is received by the EFI gateway each address 7 and routed to the F PLC Fig 18 Example control of an S300 and an S300 Mini via an EFI gateway us...

Page 42: ...Flexi Soft In the example the EFI gateway receives the F PLC control commands for the Flexi Soft and routes them to device address 13 on the first EFI string The Flexi Soft in turn outputs its control commands for the ESPE connected via the second EFI string for the Flexi Soft to the ESPE address 14 The Flexi Soft receives via EFI the status information for the ESPE address 1 on the M4000 address ...

Page 43: ...e Technical realization 4 5 7 Flexi Soft safety controller with M4000 multiple light beam safety device The Flexi Soft safety controller can access the M4000 via EFI In this way it can send muting signals to the M4000 address 14 and receive output information e g on the M4000 OSSDs address 1 Fig 20 Example implementation of muting with M4000 and Flexi Soft ...

Page 44: ...3000 is performed via the Flexi Soft safety controller The control input signals for this purpose are routed to the S3000 or S300 Mini via the EFI gateway address 14 4 5 9 Flexi Soft safety controller with S3000 or S300 host guest system with local inputs Only the status information from the S3000 or S300 is received by the Flexi Soft safety controller addresses 7 and 8 and evaluated The protectiv...

Page 45: ...ity routing is not available in the compatibility mode On the S300 Expert on EFI1 1 0 incremental encoders 1 are connected These generate the necessary velocity signals The signals are distributed by the Flexi Soft safety controller 3 to all four safety laser scanners 0 and 4 as well as 2 and 5 and are available on all four safety laser scanners for monitoring case switching Note Fig 23 Example fo...

Page 46: ...se signals are available as input signals are duplicated and placed twice on the n n function blocks 0 and 1 as well as 2 and 3 The outputs of the function blocks are placed on EFI string 1 or on EFI string 2 As a result they are available to all four safety laser scanners WARNING The Velocity valid status information is relevant for safety Ensure that the Velocity valid input signal is connected ...

Page 47: ...ion of the safety controllers and safety sensors If only safety controllers and safety sensors are used on an EFI connection or only one active EFI connection is used a specific procedure for the configuration is not necessary The PC to be used for the configuration can be connected to any device in the EFI system In the case of device groups with more than one active EFI string however a specific...

Page 48: ...300 Mini S3000 safety laser scanners You can configure a host guest system with two S300 S300 Mini S3000 safety laser scanners both from the host 1 as well as from the guest 2 5 1 3 M4000 with UE403 switching amplifier You can configure an M4000 with a UE403 switching amplifier both from the M4000 1 as well as from the UE403 2 Fig 27 Configuration of a host guest system Fig 28 Configuration on an ...

Page 49: ... 5 1 4 Safety controller with one ESPE You can configure a safety controller and the ESPE connected from the safety controller 1 5 1 5 EFI gateway with ESPE s connected You can configure an EFI gateway and the ESPE connected to it from the higher level network e g PROFIsafe Fig 29 Configuration of a safety controller with ESPE Fig 30 Configuration of an EFI gateway with S3000 connected ...

Page 50: ...ou can completely configure a safety controller 1 with two ESPE connected via EFI 2a and 2b from the safety controller If you connect the PC to the RS 232 interface on an ESPE 2a you can only configure this device Although the safety controller 1 and the second ESPE 2b are visible in the CDS they cannot be configured and diagnostics are not possible Fig 31 Configuration of a safety controller with...

Page 51: ...ller with an ESPE is integrated via an EFI gateway then you can configure the EFI gateway 2 and the ESPE 3 via the safety controller 1 It is only possible to configure the EFI gateway via the EFI gateway 2 Although the safety controller 1 and the ESPE 3 are visible in the CDS they cannot be configured and diagnostics are not possible Fig 33 Configuration of an EFI gateway via a safety controller w...

Page 52: ... 3 EFI gateway with two safety controllers with ESPE connected If two safety controllers each with an ESPE are integrated via an EFI gateway into PROFINET the system configuration must be performed in three steps First the safety controller and the ESPE connected to the first EFI string on the EFI gateway are configured 2a and 3a Fig 35 Configuration of the first safety controller with ESPE ...

Page 53: ...notice Configuration options via EFI Then the safety controller and the ESPE connected to the second EFI string on the EFI gateway are configured 2b and 3b Finally the EFI gateway and the safety controllers connected to it are configured 1 2a and 2b Fig 36 Configuration of the second safety controller with ESPE Fig 37 Configuration of the EFI gateway ...

Page 54: ...he related devices connecting cable type twisted pairs with copper braid screen cable length at 0 22 mm cables 50 m galvanic isolation characteristic impedance of the connecting cable 120 Ω wire cross section of the connecting cable 0 22 mm line wiring You will find suitable connecting cables in the comprehensive range of SICK accessories e g fieldbus cable 4 core supply bus part no 6030921 6 2 In...

Page 55: ...ormation of the S3000 data from the S3000 29 Tab 18 Control features on the S3000 data to the S3000 31 Tab 19 Status information of the S300 data from the S300 32 Tab 20 Control features on the S300 data to the S300 33 Tab 21 Status information of the S300 Mini data from the S300 Mini 34 Tab 22 Control features on the S300 Mini data to the S300 Mini 35 Tab 23 Status information on the Flexi Soft d...

Page 56: ...and an S3000 via an EFI gateway 42 Fig 20 Example implementation of muting with M4000 and Flexi Soft 43 Fig 21 Example protective field switching via Flexi Soft 44 Fig 22 Example protective field switching using local inputs 44 Fig 23 Example for velocity routing on an AGV 45 Fig 24 Connection diagram for velocity routing 45 Fig 25 Example for velocity routing in the Flexi Soft Designer 46 Fig 26 ...

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